gtsam  4.1.0
gtsam
ConcurrentFilteringAndSmoothing.cpp File Reference

Base classes for the 'filter' and 'smoother' portion of the Concurrent Filtering and Smoothing architecture, as well as an external synchronization function. More...

Namespaces

 gtsam
 Global functions in a separate testing namespace.
 

Functions

void gtsam::synchronize (ConcurrentFilter &filter, ConcurrentSmoother &smoother)
 
NonlinearFactorGraph gtsam::internal::calculateMarginalFactors (const NonlinearFactorGraph &graph, const Values &theta, const KeySet &remainingKeys, const GaussianFactorGraph::Eliminate &eliminateFunction)
 Calculate the marginal on the specified keys, returning a set of LinearContainerFactors. More...
 

Detailed Description

Base classes for the 'filter' and 'smoother' portion of the Concurrent Filtering and Smoothing architecture, as well as an external synchronization function.

These classes act as an interface only.

Author
Stephen Williams

Function Documentation

◆ calculateMarginalFactors()

NonlinearFactorGraph gtsam::internal::calculateMarginalFactors ( const NonlinearFactorGraph graph,
const Values theta,
const KeySet remainingKeys,
const GaussianFactorGraph::Eliminate eliminateFunction 
)

Calculate the marginal on the specified keys, returning a set of LinearContainerFactors.

Unlike other GTSAM functions with similar purposes, this version can operate on disconnected graphs.